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四履带双摆臂机器人越障机理及越障能力 总被引:5,自引:0,他引:5
为发挥四履带双摆臂机器人的最佳越障性能,本文从运动学的角度,在固定双履带机器人越障机理的
基础上,分析了四履带双摆臂机器人克服台阶、斜坡、沟道等典型障碍的运动机理及其最大越障能力,重点研究了
四履带双摆臂机器人正向和反向两种攀越台阶方式的运动机理及其最大越障能力.以CUMT-II 型煤矿探测机器人
样机为例,绘制了机器人仰角、摆臂摆角与跨越台阶高度的3 维关系图,以及斜坡坡度与摆臂摆角关系曲线,并求
出了相应的最大越障能力的理论值,与实验室实测数据进行了对比分析.本文推导出机器人的最佳越障性能及对应
的质心和摆臂的位置,可为机器人越障时质心位置的控制提供理论依据. 相似文献
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针对机器人越障过程中的重心位置变化情况,提出一种主从履带复合式机器人越障研究方法。给出机器人样机模型,研究样机的重心变化规律和主履带系统链轮的负载扭矩变化规律,并进行越障和楼梯仿真分析。仿真结果表明,重心变化是影响越障和爬越楼梯成功与否的关键因素,样机重心位置发生变化时,履带系统链轮转矩将出现最大值。 相似文献
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基于ADAMS的四轮驱动移动机器人越障预测 总被引:1,自引:0,他引:1
针对移动机器人越障问题,构建预测模型。对四轮驱动移动机器人在三类不同障碍物条件下的越障情况进行了分析。运用虚拟样机动力学仿真软件ADAMS构建四轮驱动移动机器人参数化模型,并构建矩形障碍、广义障碍和斜坡障碍的参数化模型,从而组成参数化预测平台。通过该平台可以在三维计算机仿真环境下观察并预测移动机器人在矩形障碍、广义障碍和斜坡障碍等不同障碍条件下的越障能力,结合绘制的速度、加速度及驱动转矩等曲线可以分析越障过程中可能出现的问题。 相似文献
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深海复合轮式采矿机器人越障性能研究 总被引:1,自引:0,他引:1
针对深海富钴结壳和热液硫化调查区复杂多变的底质环境特征,提出了一种兼有主被动混合越障模式的复合轮式采矿机器人.该机器人主体由4组复合轮组与铰接密封抗压型整体罐式车架组成.建立了典型越障工况下复合轮组结构的静力学模型,得到了影响其越障性能的主要结构参数,利用MATLAB工具箱对复合轮组结构参数进行优化设计,实现机器人越障性能的提高.结合深海复杂多变的底质环境特征,运用ADAMS软件对优化设计后的复合轮式机器人进行动力学建模和仿真分析.获得了机器人越障过程中的运动学特性曲线和力学特性曲线,并通过研制原理样机对其越障性能进行测试验证.结果表明,该机器人在复杂多变的深海底质环境下中具有较强的越障能力和通过稳定性. 相似文献
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基于传感器信息融合的移动机器人自主爬楼梯技术研究 总被引:2,自引:0,他引:2
机器人自主爬楼梯是移动机器人完成危险环境探查、侦察、救灾等任务需要具备的基本智能行为之一.分析了楼梯的多样性和履带式机器人爬楼梯固有的不稳定性导致机器人爬楼梯工作的复杂性,描述了带前导手臂的履带式移动机器人爬楼梯的步骤,简要介绍了利用超声波、视频摄像头和激光扫描测距仪信息来感知楼梯和判断机器人与楼梯相对位置的算法,最后提出了一个基于传感器测量值可信度的信息融合方法进行楼梯参数感知和行驶方向计算的机器人自主爬楼梯的控制系统结构. 相似文献
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In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. When a robot cleans in three-dimensional space, it needs to turn for direction in addition to climb down stairs. The proposed robot selects movement using legs or wheels depending on stairs or flat surfaces. In this paper, a mobile mechanism and a control method are described for translational locomotion. The translational mechanism is based on using two-wheel-drive type omni-directional mobile mechanism. To recognize a stair using the position-sensitive detector, the robot shifts from translational locomotion to climbing down motion or edge-following motion. It is shown that the proposed robot turns to face a stair with the accuracy of 5°. 相似文献
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One of the important advantages of an active wheeled snake-like robots is that it can access narrow spaces which are inaccessible to other types of robot (such as crawlers, walking robots), since snake-like robots have an elongated, narrow body. Additionally, in areas with rubble, snake-like robots can traverse rough terrain and large obstacles since its body can conform to the terrain’s contours. ‘ACM-R8’ is a new snake-like robot which can climb stairs and reach doorknobs in addition to the features explained above. To fulfill these functions, the design of this robot incorporates several key features: joints with parallel link mechanism, mono-tread wheels with internal structure, force sensors and ‘swing-grousers’ which were developed to improve step climbability. In this paper, the design and control methods are described. Experiments confirmed high mobility on stairs and steps, with the robot succeeding in overcoming a step height of 600 mm, despite the height of the robot being just 300 mm. 相似文献
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《Advanced Robotics》2013,27(2):245-253
In this research, an inchworm-type robot is being developed for the purpose of rescue missions. This robot has the ability to traverse obstacles such as stairs with fewer joints than legged robots. A self-standing inchworm robot, which has five links and four joints, is produced for trial purposes. In order for this robot to be able to climb up stairs, the kinematical analysis and the development of the program were investigated. As a result, the effectiveness of this robot is confirmed experimentally. 相似文献
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Guanglin Lu Teng Chen Xuewen Rong Guoteng Zhang Jian Bi Jingxuan Cao Han Jiang Yibin Li 《野外机器人技术杂志》2023,40(6):1657-1677
Quadruped robots working in jungles, mountains or factories should be able to move through challenging scenarios. In this paper, we present a control framework for quadruped robots walking over rough terrain. The planner plans the trajectory of the robot's center of gravity by using the normalized energy stability criterion, which ensures that the robot is in the most stable state. A contact detection algorithm based on the probabilistic contact model is presented, which implements event-based state switching of the quadruped robot legs. And an on-line detection of contact force based on generalized momentum is also showed, which improves the accuracy of proprioceptive force estimation. A controller combining whole body control and virtual model control is proposed to achieve precise trajectory tracking and active compliance with environment interaction. Without any knowledge of the environment, the experiments of the quadruped robot SDUQuad-144 climbs over significant obstacles such as 38 cm high steps and 22.5 cm high stairs are designed to verify the feasibility of the proposed method. 相似文献
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六轮移动机器人爬楼梯能力分析 总被引:12,自引:1,他引:12
研究了PBJ-01防暴机器人攀越楼梯的能力. 从机器人对楼梯的几何包容、机器人重心和机器人爬楼梯过程中的最大俯仰角对机器人倾覆的影响等多方面考虑, 得出机器人能够爬越楼梯时楼梯参数必须满足的条件. 在该机器人的行为决策中, 为其选择越障还是避障提供了依据. 相似文献
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ABSTRACTIn this paper, we propose the design of a single-wheeled robot capable of climbing stairs. The robot is equipped with the proposed climbing mechanism, which enables it to climb stairs. The mechanism has an extremely simple structure, comprised of a parallel arm, belt, harmonic drive, and pulley. The proposed climbing mechanism has the advantage of not requiring an additional actuator because it can be driven by using a single actuator that drives the wheel. The robot is equipped with a control moment gyroscope to control the stability in a lateral direction. Experimental results demonstrate that the robot can climb stairs with a riser height of 12–13?cm and a tread depth of 39?cm at an approximate rate of 2 to 3 s for each step. 相似文献
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Motoyasu Tanaka Kazuyuki Kon Mizuki Nakajima Nobutaka Matsumoto Shinnosuke Fukumura Kosuke Fukui 《Advanced Robotics》2020,34(2):70-88
AbstractIn this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed. 相似文献
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Chun-Kyu Woo Hyun Do Choi Sukjune Yoon Soo Hyun Kim Yoon Keun Kwak 《Journal of Intelligent and Robotic Systems》2007,49(4):325-354
In this paper, we propose a new wheeled mobile robot (WMR) with a passive linkage-type locomotive mechanism that allows the
WMR to adapt passively to rough terrain and climb up stairs, making it ideal for applications such as building inspection,
building security, and military reconnaissance. A simple four-bar linkage mechanism and a limited pin joint are proposed after
considering two design needs: adaptability and passivity. To improve the WMR’s ability to climb stairs, we divided the stair-climbing
motion into several stages, taking into consideration the status of the points of contact between the driving wheels and the
step. For each of the suggested stages, a kinetic analysis was accomplished and validated using the multi-body dynamic analysis
software package ADAMS. The object functions are presented for the stages that influence the WMR’s ability to climb stairs.
The optimization of the object functions is carried out using the multi-objective optimization method. 相似文献